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Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…
Recent advances in deep learning technology have triggered radical progress in the autonomy of ground vehicles. Marine coastal Autonomous Surface Vehicles (ASVs) that are regularly used for surveillance, monitoring and other routine tasks…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…
Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasible, it becomes imperative for the navigation strategy to…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
This paper presents a model-free deep reinforcement learning framework for informative path planning with heterogeneous fleets of autonomous surface vehicles to locate and collect plastic waste. The system employs two teams of vehicles:…
The Coastal underwater evidence search system with surface-underwater collaboration is designed to revolutionize the search for artificial objects in coastal underwater environments, overcoming limitations associated with traditional…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…